Distributed predictive control method for multi-motor cutter system of heading machine

A technology of predictive control and roadheader, applied in the direction of adaptive control, general control system, control/regulation system, etc., can solve the problems of optimization time, structural robustness, etc.

Inactive Publication Date: 2018-01-19
SOUTH CHINA UNIV OF TECH
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Problems solved by technology

[0005] The purpose of the present invention is to overcome the shortcomings and deficiencies of the prior art, and provide a distributed predictive control method for the multi-motor cutterhead system of the roadheader, which can solve the optimization time and structural robustness o

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  • Distributed predictive control method for multi-motor cutter system of heading machine
  • Distributed predictive control method for multi-motor cutter system of heading machine
  • Distributed predictive control method for multi-motor cutter system of heading machine

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Embodiment

[0093] Distributed predictive control is mainly to solve the optimization time and structural robustness of centralized control algorithms in complex industrial processes. It is an extension and expansion of traditional centralized control algorithms. In terms of reliability, flexibility and fault tolerance Both have advantages over traditional centralized control. The distributed predictive control technology of the roadheader multi-motor cutterhead system divides the roadheader cutterhead system into multiple areas, and uses the distributed predictive control method to optimize the design of the motor torque in each area, mainly involving the following types of technologies: Mechanical system partition modeling, distributed predictive control design, motor vector control, etc.

[0094] At present, with the continuous improvement of modern technology and communication technology, the control mode of complex distributed systems is gradually changing to networked distributed co...

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Abstract

The invention discloses a distributed predictive control method for a multi-motor cutter system of a heading machine. The method comprises a step of modeling a cutter driving system according to a mechanical association relationship, obtaining each motor system equation, accordingly establishing a partition system model of the heading machine cutter system, and providing a model for the torque optimization of a motor, a step of using the distributed predictive control method to design an independent distributed prediction controller for each partition based on the cutter system partition model, and carrying out optimization setting on the motor torque of the partition, and a step of introducing an iterative algorithm to realize the iterative interaction of the motor torque setting of eachpartition and performing multiple interactions of controllers in each sampling period to achieve a load balance of each partition motor. The method of the invention extends and expands a traditional centralized control algorithm and has advantages over traditional centralized control in terms of reliability, flexibility and fault tolerance.

Description

technical field [0001] The invention relates to the technical field of intelligent control and optimization of equipment, in particular to a distributed predictive control method for a roadheader multi-motor cutter head system. Background technique [0002] The full-face hard rock tunnel boring machine is a large-scale industrial tunnel construction operation system integrating machinery, electronics, hydraulic pressure, laser and other technologies. It is one of the important methods of tunnel construction at home and abroad. In recent years, roadheaders have developed in the direction of diversified sections and multiple working faces, and have played an important role in excavating underground projects such as urban subway tunnels, national defense projects, railway tunnels, and submarine tunnels. The front shield of the roadheader is mainly composed of the cutter head and its drive system, hydraulic propulsion system, and support shoe system. The cutter head is install...

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Application Information

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IPC IPC(8): G05B13/04
Inventor 张浪文谢巍余孝源吴伟林何伟
Owner SOUTH CHINA UNIV OF TECH
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